CN206883664U - A kind of compound manipulator - Google Patents

A kind of compound manipulator Download PDF

Info

Publication number
CN206883664U
CN206883664U CN201720865035.0U CN201720865035U CN206883664U CN 206883664 U CN206883664 U CN 206883664U CN 201720865035 U CN201720865035 U CN 201720865035U CN 206883664 U CN206883664 U CN 206883664U
Authority
CN
China
Prior art keywords
manipulator
sucker
frame
paws
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201720865035.0U
Other languages
Chinese (zh)
Inventor
刘艺欢
李瑞峰
梁培栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Quanzhou HIT Research Institute of Engineering and Technology
Original Assignee
Fujian Quanzhou HIT Research Institute of Engineering and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujian Quanzhou HIT Research Institute of Engineering and Technology filed Critical Fujian Quanzhou HIT Research Institute of Engineering and Technology
Priority to CN201720865035.0U priority Critical patent/CN206883664U/en
Application granted granted Critical
Publication of CN206883664U publication Critical patent/CN206883664U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of compound manipulator, it is related to mechanical driving device field, including frame and grasping mechanism, grasping mechanism includes sucker and a plurality of paws, sucker can be arranged at frame up and downly, a plurality of paws mutually can be arranged to opening and closing frame, and rounded and be distributed evenly in around sucker;Compound manipulator also includes drive mechanism.The beneficial effects of the utility model:Drive mechanism is while making sucker up and down, drive the mutual opening and closing of paw, enable the manipulator to have paw clamping device concurrently and capture general part, the function of object, the function of tiny flat articles is captured with sucking disc type mechanical hand, the application of manipulator is widened, the number for changing manipulator is decreased simultaneously, fundamentally solves the problems, such as that existing manipulator function is single.

Description

A kind of compound manipulator
Technical field
A kind of mechanical driving device is the utility model is related to, more particularly to a kind of compound manipulator.
Background technology
Industrial robot integrates the multi-disciplinary advanced technology such as machinery, electronics, control, computer, sensor The important automated arm of manufacturing industry is modernized, have people and machine concurrently on construction and performance the advantages of.Manipulator is industrial machine The key position of device people, manipulator are both the perceptron of an active perception working environment information, are holding for robot end again Row device, be one it is highly integrated, there is a variety of perceptional functions and intelligentized Mechatronic Systems.Crawl is reliable, environmental suitability Well, control is simple, adaptivity is strong, capacity of will height is the important symbol for weighing manipulator design level.
The workpiece shapes gripped according to robot are different, and manipulator can be divided into polytype, can mainly divide clamp-type machine Tool hand and sucking disc type mechanical hand.Traditional manipulator is the mechanism of single type, the i.e. manipulator of clamp-type manipulator and sucked type It is separated, when robot application is in different operative scenarios, the replacing of end paw is carried out using modular design.Though Right this mode can also meet adaptability requirement of the manipulator to different scenes, but not solve manipulator work(fundamentally Can be single the problem of.
The content of the invention
The utility model provides a kind of compound manipulator, and its main purpose is to solve that manipulator function is single to ask Topic.
The utility model adopts the following technical scheme that:
A kind of compound manipulator, including frame and grasping mechanism, above-mentioned grasping mechanism include sucker and a plurality of paws, Above-mentioned sucker can be arranged at frame up and downly, and a plurality of above-mentioned paws mutually can be arranged to opening and closing above-mentioned frame, and be in It is circular and be distributed evenly in around above-mentioned sucker;Also include drive mechanism, the drive mechanism makes up and down same of sucker When, drive a plurality of above-mentioned mutual opening and closing of paw.
Further, above-mentioned drive mechanism includes drive device, stock and a plurality of four-bar mechanisms, a plurality of above-mentioned four bars machines Structure is connected with stock, and above-mentioned paw is movably disposed in above-mentioned frame by four-bar mechanism, and one end of above-mentioned stock is set There is above-mentioned sucker, the other end is provided with above-mentioned drive device.
Further, above-mentioned four-bar mechanism includes L-type connecting rod, side link and drive link, and one end of L-type connecting rod is provided with above-mentioned hand Pawl, middle part are articulated in frame, and the other end is articulated in above-mentioned drive link, and middle part and the side link of drive link are hinged, side link The other end is articulated in above-mentioned frame, and the other end of drive link is connected with above-mentioned stock.
Further, above-mentioned drive device is electronic screw mandrel slide unit, telescopic cylinder or electric expansion bar.
Further, ball wire rod mechanism, shaft coupling, the reducing motor of above-mentioned electronic screw mandrel slide unit linkage, above-mentioned ball wire The ball nut of linkage is connected by a connecting rod with drive link.
Further, above-mentioned frame profile is cylinder, and above-mentioned grasping mechanism includes three above-mentioned paws, and three above-mentioned paws are in Annular and respectively it is arranged at the inwall of cylinder.
Compared to the prior art, beneficial effect caused by the utility model is:
In the utility model, compound manipulator includes frame and grasping mechanism, and above-mentioned grasping mechanism is including sucker and again Several paws, above-mentioned sucker can be arranged at frame up and downly, and a plurality of above-mentioned paws mutually can be arranged to opening and closing described Frame, and it is rounded and be distributed evenly in around the sucker;Compound manipulator also includes drive mechanism.This practicality is new In type, drive mechanism drives the mutual opening and closing of above-mentioned paw so that the manipulator can have concurrently while making sucker up and down Paw clamping device captures general part, the function of object, and sucking disc type mechanical hand captures the function of tiny flat articles, widens The application of manipulator, while the number for changing manipulator is decreased, fundamentally solve existing manipulator function The problem of single.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is top view of the present utility model.
Embodiment
Illustrate specific embodiment of the present utility model with reference to the accompanying drawings.
Referring to Figures 1 and 2, a kind of compound manipulator includes frame 1 and grasping mechanism 2, and grasping mechanism 2 includes sucker 21 With a plurality of paws 22.Sucker 21 can be arranged at frame 1 up and downly.A plurality of paws 22 mutually can be arranged at machine to opening and closing Frame 1, and it is rounded and be distributed evenly in around sucker 21;Also include drive mechanism 3, the drive mechanism makes sucker about 21 While movable, a plurality of 22 mutual opening and closing of paw are driven.
Reference picture 1, drive mechanism 3 include drive device 33, stock 31 and a plurality of four-bar mechanisms 32, a plurality of four bars machines Structure 32 is connected with stock 31, and paw 22 is movably disposed in frame 1 by four-bar mechanism 32, and one end of stock 31 is provided with The sucker 21, the other end are provided with drive device 33.
Reference picture 1, four-bar mechanism 32 include L-type connecting rod 321, side link 322 and drive link 323.The one of L-type connecting rod 321 End is provided with paw 22, and middle part is articulated in frame 1, and the other end is articulated in drive link 323, middle part and the side link 322 of drive link 323 It is hinged, the other end of side link 322 is articulated in frame 1, and the other end of drive link 323 is connected with stock 31.
Reference picture 1, preferably, drive device 33 are electronic screw mandrel slide unit, and electronic screw mandrel slide unit includes joining successively Dynamic ball wire rod mechanism 331, shaft coupling(Do not embodied in figure), reducing motor 332.But drive device 33 is not limited thereto, It can also be telescopic cylinder or electric expansion bar etc..
Referring to Figures 1 and 2, the profile of frame 1 is cylinder, and grasping mechanism 2 includes three paws 22, and three paws 22 are in a ring And respectively it is arranged at the inwall of cylinder.
Reference picture 1, occupation mode of the present utility model:
From the motion principle of four-bar mechanism, four bar machines are connected to when motor 332 is driven using ball screw framework 331 When sucker 21 above structure 32 moves downward, three paws 22 can be driven to be mutually closed, be coordinated by three paws 22 to object Or part is captured;Likewise, the reversion of motor 332 is driven by ball screw framework 331 and is connected on four-bar mechanism 32 When the sucker 21 in face moves upwards, three paws 22 can be caused to open, just sucker 21 can be stretched out outside paw 22, utilize suction Disk 21 is drawn to tiny flat object or part, such as glass plate, support plate or the scraps of paper.Compound manipulator has more work( Can, it is easy to operate the advantages that.
Specific embodiment of the present utility model is above are only, but design concept of the present utility model is not limited thereto, All changes for carrying out unsubstantiality to the utility model using this design, all should belong to the row for invading scope of protection of the utility model For.

Claims (5)

1. a kind of compound manipulator, including frame and grasping mechanism, it is characterised in that:The grasping mechanism is including sucker and again Several paws, the sucker can be arranged at frame up and downly, and a plurality of paws mutually can be arranged to opening and closing described Frame, and it is rounded and be distributed evenly in around the sucker;Also include drive mechanism, the drive mechanism makes above and below sucker While movable, a plurality of mutual opening and closing of paw are driven.
2. compound manipulator as claimed in claim 1, it is characterised in that:The drive mechanism includes drive device, stock With a plurality of four-bar mechanisms, a plurality of four-bar mechanisms are connected with stock, and the paw is movable by four-bar mechanism Ground is arranged at the frame, and one end of the stock is provided with the sucker, and the other end is provided with the drive device.
3. compound manipulator as claimed in claim 2, it is characterised in that:The four-bar mechanism includes L-type connecting rod, side link And drive link, one end of L-type connecting rod are provided with the paw, middle part is articulated in frame, and the other end is articulated in the drive link, transmission The middle part of bar is hinged with side link, and the other end of side link is articulated in the frame, the other end of drive link and the stock It is connected.
4. compound manipulator as claimed in claim 2, it is characterised in that:The drive device is electronic screw mandrel slide unit, stretched Contracting cylinder or electric expansion bar.
5. compound manipulator as claimed in claim 2, it is characterised in that:The frame profile is cylinder, the gripper Structure includes three paws, and three paws are arranged in a ring and respectively the inwall of cylinder.
CN201720865035.0U 2017-07-17 2017-07-17 A kind of compound manipulator Active CN206883664U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720865035.0U CN206883664U (en) 2017-07-17 2017-07-17 A kind of compound manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720865035.0U CN206883664U (en) 2017-07-17 2017-07-17 A kind of compound manipulator

Publications (1)

Publication Number Publication Date
CN206883664U true CN206883664U (en) 2018-01-16

Family

ID=61295816

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720865035.0U Active CN206883664U (en) 2017-07-17 2017-07-17 A kind of compound manipulator

Country Status (1)

Country Link
CN (1) CN206883664U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022028746A1 (en) 2020-08-07 2022-02-10 Girbau, Sa System and method for automatic sorting of textile items

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022028746A1 (en) 2020-08-07 2022-02-10 Girbau, Sa System and method for automatic sorting of textile items

Similar Documents

Publication Publication Date Title
CN207070638U (en) A kind of small-sized eggplant harvesting robotic
CN206357256U (en) A kind of flexible grabbing device of replaceable manipulator species
CN2853222Y (en) Feeding discharging device of spinning machine
CN203779506U (en) Sucking disc type manipulator
CN200948591Y (en) Pneumatic manipulator having three degrees of freedom
CN201720846U (en) Automatic feeding manipulator
CN206883664U (en) A kind of compound manipulator
CN211386466U (en) A upset stamping equipment for panel beating material
CN203127182U (en) End product cartoning mechanical arm
CN108127674A (en) A kind of efficient catching robot
CN209504144U (en) A kind of cup grasping mechanism
CN204770979U (en) Last unloader of gear -hobbing machine
CN206748456U (en) Electric-controlled type vacuum cup machinery paw
CN205380677U (en) Pneumatic manipulator device
CN111547493B (en) Automatic equipment of snatching based on big data
CN211709342U (en) Novel industrial robot gripping device
CN208231789U (en) Material device is picked up by a kind of robot
CN207746687U (en) Intelligence manufacture outfit based on industrial robot
CN208747116U (en) A kind of transfer robot for industrial chemicals
CN208662973U (en) A kind of flexible installing device based on robot
CN208496248U (en) A kind of pressure maintaining jig disassembling apparatus
CN209579573U (en) A kind of sorting mechanical arm that can carry multiple articles simultaneously
CN208557563U (en) A kind of sucking disc type mechanical hand
CN207874248U (en) Manipulator quick-changing mechanism
CN203372822U (en) Cake taking device for laver processing

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant